OpenRaiser/Intern-Atlas huggingface dataset:
Sample-Efficient Reinforcement Learning of Koopman eNMPC
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) can be used to tune data-driven (economic) nonlinear model predictive controllers ((e)NMPCs) for optimal performance in a specific control task by optimizing the dynamic model or parameters in the policy's objective function or constraints, such as state bounds. However, the sample efficiency of RL is crucial, and to improve it, we combine a model-based RL algorithm with our published method that turns Koopman (e)NMPCs into automatically differentiable policies. We apply our approach to an eNMPC case study of a continuous stirred-tank reactor (CSTR) model from the literature. The approach outperforms benchmark methods, i.e., data-driven eNMPCs using models based on system identification without further RL tuning of the resulting policy, and neural network controllers trained with model-based RL, by achieving superior control performance and higher sample efficiency. Furthermore, utilizing partial prior knowledge about the system dynamics via physics-informed learning further increases sample efficiency.
Three Kinds of AI Ethics
Venue: arXiv cs.CY 2025
Year: 2025

There is an overwhelming abundance of works in AI Ethics. This growth is chaotic because of how sudden it is, its volume, and its multidisciplinary nature. This makes difficult to keep track of debates, and to systematically characterize goals, research questions, methods, and expertise required by AI ethicists. In this article, I show that the relation between AI and ethics can be characterized in at least three ways, which correspond to three well-represented kinds of AI ethics: ethics and AI; ethics in AI; ethics of AI. I elucidate the features of these three kinds of AI Ethics, characterize their research questions, and identify the kind of expertise that each kind needs. I also show how certain criticisms to AI ethics are misplaced, as being done from the point of view of one kind of AI ethics, to another kind with different goals. All in all, this work sheds light on the nature of AI ethics, and sets the groundwork for more informed discussions about the scope, methods, and training of AI ethicists.
Application of Physics-Informed Neural Networks for Solving the Inverse Advection-Diffusion Problem to Localize Pollution Sources
Venue: arXiv cs.NE 2025
Year: 2025

This paper investigates the application of Physics-Informed Neural Networks (PINNs) for solving the inverse advection-diffusion problem to localize pollution sources. The study focuses on optimizing neural network architectures to accurately model pollutant dispersion dynamics under diverse conditions, including scenarios with weak and strong winds and multiple pollution sources. Various PINN configurations are evaluated, showing the strong dependence of solution accuracy on hyperparameter selection. Recommendations for efficient PINN configurations are provided based on these comparisons. The approach is tested across multiple scenarios and validated using real-world data that accounts for atmospheric variability. The results demonstrate that the proposed methodology achieves high accuracy in source localization, showcasing the stability and potential of PINNs for addressing environmental monitoring and pollution management challenges under complex weather conditions.
I Have Covered All the Bases Here: Interpreting Reasoning Features in Large Language Models via Sparse Autoencoders
Venue: arXiv cs.CL 2025
Year: 2025

Recent LLMs like DeepSeek-R1 have demonstrated state-of-the-art performance by integrating deep thinking and complex reasoning during generation. However, the internal mechanisms behind these reasoning processes remain unexplored. We observe reasoning LLMs consistently use vocabulary associated with human reasoning processes. We hypothesize these words correspond to specific reasoning moments within the models' internal mechanisms. To test this hypothesis, we employ Sparse Autoencoders (SAEs), a technique for sparse decomposition of neural network activations into human-interpretable features. We introduce ReasonScore, an automatic metric to identify active SAE features during these reasoning moments. We perform manual and automatic interpretation of the features detected by our metric, and find those with activation patterns matching uncertainty, exploratory thinking, and reflection. Through steering experiments, we demonstrate that amplifying these features increases performance on reasoning-intensive benchmarks (+2.2%) while producing longer reasoning traces (+20.5%). Using the model diffing technique, we provide evidence that these features are present only in models with reasoning capabilities. Our work provides the first step towards a mechanistic understanding of reasoning in LLMs. Code available at https://github.com/AIRI-Institute/SAE-Reasoning
A Reliable and Efficient Detection Pipeline for Rodent Ultrasonic Vocalizations
Venue: arXiv cs.SD 2025
Year: 2025

Analyzing ultrasonic vocalizations (USVs) is crucial for understanding rodents' affective states and social behaviors, but the manual analysis is time-consuming and prone to errors. Automated USV detection systems have been developed to address these challenges. Yet, these systems often rely on machine learning and fail to generalize effectively to new datasets. To tackle these shortcomings, we introduce ContourUSV, an efficient automated system for detecting USVs from audio recordings. Our pipeline includes spectrogram generation, cleaning, pre-processing, contour detection, post-processing, and evaluation against manual annotations. To ensure robustness and reliability, we compared ContourUSV with three state-of-the-art systems using an existing open-access USV dataset (USVSEG) and a second dataset we are releasing publicly along with this paper. On average, across the two datasets, ContourUSV outperformed the other three systems with a 1.51x improvement in precision, 1.17x in recall, 1.80x in F1 score, and 1.49x in specificity while achieving an average speedup of 117.07x.
CoMP: Continual Multimodal Pre-training for Vision Foundation Models
Venue: arXiv cs.CV 2025
Year: 2025

Pre-trained Vision Foundation Models (VFMs) provide strong visual representations for a wide range of applications. In this paper, we continually pre-train prevailing VFMs in a multimodal manner such that they can effortlessly process visual inputs of varying sizes and produce visual representations that are more aligned with language representations, regardless of their original pre-training process. To this end, we introduce CoMP, a carefully designed multimodal pre-training pipeline. CoMP uses a Continual Rotary Position Embedding to accommodate visual inputs with different resolutions, and an Alignment Loss between visual and textual features for better cross-modal alignment. After continual pre-training, leading VFMs like DINOv2, SigLIP and AIMv2 achieve remarkable improvements not only in multimodal understanding tasks but also in generic classification and segmentation tasks. Remarkably, CoMP-AIMv2 achieves scores of 64.9 on ChartQA with a 0.5B LLM, while maintaining an 87.3% accuracy on ImageNet-1K and a 51.8 mIoU on ADE20K under frozen chunk evaluation.
Equivariant Image Modeling
Venue: arXiv cs.CV 2025
Year: 2025

Current generative models, such as autoregressive and diffusion approaches, decompose high-dimensional data distribution learning into a series of simpler subtasks. However, inherent conflicts arise during the joint optimization of these subtasks, and existing solutions fail to resolve such conflicts without sacrificing efficiency or scalability. We propose a novel equivariant image modeling framework that inherently aligns optimization targets across subtasks by leveraging the translation invariance of natural visual signals. Our method introduces (1) column-wise tokenization which enhances translational symmetry along the horizontal axis, and (2) windowed causal attention which enforces consistent contextual relationships across positions. Evaluated on class-conditioned ImageNet generation at 256x256 resolution, our approach achieves performance comparable to state-of-the-art AR models while using fewer computational resources. Systematic analysis demonstrates that enhanced equivariance reduces inter-task conflicts, significantly improving zero-shot generalization and enabling ultra-long image synthesis. This work establishes the first framework for task-aligned decomposition in generative modeling, offering insights into efficient parameter sharing and conflict-free optimization. The code and models are publicly available at https://github.com/drx-code/EquivariantModeling.
Unifying EEG and Speech for Emotion Recognition: A Two-Step Joint Learning Framework for Handling Missing EEG Data During Inference
Venue: arXiv cs.SD 2025
Year: 2025

Computer interfaces are advancing towards using multi-modalities to enable better human-computer interactions. The use of automatic emotion recognition (AER) can make the interactions natural and meaningful thereby enhancing the user experience. Though speech is the most direct and intuitive modality for AER, it is not reliable because it can be intentionally faked by humans. On the other hand, physiological modalities like EEG, are more reliable and impossible to fake. However, use of EEG is infeasible for realistic scenarios usage because of the need for specialized recording setup. In this paper, one of our primary aims is to ride on the reliability of the EEG modality to facilitate robust AER on the speech modality. Our approach uses both the modalities during training to reliably identify emotion at the time of inference, even in the absence of the more reliable EEG modality. We propose, a two-step joint multi-modal learning approach (JMML) that exploits both the intra- and inter- modal characteristics to construct emotion embeddings that enrich the performance of AER. In the first step, using JEC-SSL, intra-modal learning is done independently on the individual modalities. This is followed by an inter-modal learning using the proposed extended variant of deep canonically correlated cross-modal autoencoder (E-DCC-CAE). The approach learns the joint properties of both the modalities by mapping them into a common representation space, such that the modalities are maximally correlated. These emotion embeddings, hold properties of both the modalities there by enhancing the performance of ML classifier used for AER. Experimental results show the efficacy of the proposed approach. To best of our knowledge, this is the first attempt to combine speech and EEG with joint multi-modal learning approach for reliable AER.
Near-optimal Active Reconstruction
Venue: arXiv cs.LG 2025
Year: 2025

With the growing practical interest in vision-based tasks for autonomous systems, the need for efficient and complex methods becomes increasingly larger. In the rush to develop new methods with the aim to outperform the current state of the art, an analysis of the underlying theory is often neglected and simply replaced with empirical evaluations in simulated or real-world experiments. While such methods might yield favorable performance in practice, they are often less well understood, which prevents them from being applied in safety-critical systems. The goal of this work is to design an algorithm for the Next Best View (NBV) problem in the context of active object reconstruction, for which we can provide qualitative performance guarantees with respect to true optimality. To the best of our knowledge, no previous work in this field addresses such an analysis for their proposed methods. Based on existing work on Gaussian process optimization, we rigorously derive sublinear bounds for the cumulative regret of our algorithm, which guarantees near-optimality. Complementing this, we evaluate the performance of our algorithm empirically within our simulation framework. We further provide additional insights through an extensive study of potential objective functions and analyze the differences to the results of related work.
Periodic Chains Scheduling on Dedicated Resources -- A Crucial Problem in Time-Sensitive Networks
Venue: arXiv cs.NI 2025
Year: 2025

Periodic messages transfer data from sensors to actuators in cars, planes, and complex production machines. When considering a given routing, the unicast message starts at its source and goes over several dedicated resources to reach its destination. Such unicast message can be represented as a chain of point-to-point communications. Thus, the scheduling of the periodic chains is a principal problem in time-triggered Ethernet, like IEEE 802.1Qbv Time-Sensitive Networks. This paper studies a strongly NP-hard periodic scheduling problem with harmonic periods, task chains, and dedicated resources. We analyze the problem on several levels of generality and complexity and provide the corresponding proofs. We describe a solution methodology to find a feasible schedule that minimizes the chains' degeneracy related to start-to-end latency normalized in the number of periods. We use the local search with the first fit scheduling heuristic, which we warm-start with a constraint programming model. This notably improves the schedulability of instances with up to 100% utilization and thousands (and more) of tasks, with high-quality solutions found in minutes. An efficient constraint programming matheuristic significantly reduces the degeneracy of the found schedules even further. The method is evaluated on sets of industrial-, avionic-, and automotive-inspired instances.
A Balanced Tree Transformation to Reduce GRAND Queries
Venue: arXiv cs.IT 2025
Year: 2025

Guessing Random Additive Noise Decoding (GRAND) and its variants, known for their near-maximum likelihood performance, have been introduced in recent years. One such variant, Segmented GRAND, reduces decoding complexity by generating only noise patterns that meet specific constraints imposed by the linear code. In this paper, we introduce a new method to efficiently derive multiple constraints from the parity check matrix. By applying a random invertible linear transformation and reorganizing the matrix into a tree structure, we extract up to log2(n) constraints, reducing the number of decoding queries while maintaining the structure of the original code for a code length of n. We validate the method through theoretical analysis and experimental simulations.
LookAhead Tuning: Safer Language Models via Partial Answer Previews
Venue: arXiv cs.CL 2025
Year: 2025

Fine-tuning enables large language models (LLMs) to adapt to specific domains, but often compromises their previously established safety alignment. To mitigate the degradation of model safety during fine-tuning, we introduce LookAhead Tuning, a lightweight and effective data-driven approach that preserves safety during fine-tuning. The method introduces two simple strategies that modify training data by previewing partial answer prefixes, thereby minimizing perturbations to the model's initial token distributions and maintaining its built-in safety mechanisms. Comprehensive experiments demonstrate that LookAhead Tuning effectively maintains model safety without sacrificing robust performance on downstream tasks. Our findings position LookAhead Tuning as a reliable and efficient solution for the safe and effective adaptation of LLMs.
Anomaly Detection Using Computer Vision: A Comparative Analysis of Class Distinction and Performance Metrics
Venue: arXiv cs.CV 2025
Year: 2025

This paper showcases an experimental study on anomaly detection using computer vision. The study focuses on class distinction and performance evaluation, combining OpenCV with deep learning techniques while employing a TensorFlow-based convolutional neural network for real-time face recognition and classification. The system effectively distinguishes among three classes: authorized personnel (admin), intruders, and non-human entities. A MobileNetV2-based deep learning model is utilized to optimize real-time performance, ensuring high computational efficiency without compromising accuracy. Extensive dataset preprocessing, including image augmentation and normalization, enhances the models generalization capabilities. Our analysis demonstrates classification accuracies of 90.20% for admin, 98.60% for intruders, and 75.80% for non-human detection, while maintaining an average processing rate of 30 frames per second. The study leverages transfer learning, batch normalization, and Adam optimization to achieve stable and robust learning, and a comparative analysis of class differentiation strategies highlights the impact of feature extraction techniques and training methodologies. The results indicate that advanced feature selection and data augmentation significantly enhance detection performance, particularly in distinguishing human from non-human scenes. As an experimental study, this research provides critical insights into optimizing deep learning-based surveillance systems for high-security environments and improving the accuracy and efficiency of real-time anomaly detection.
Towards Collective Storytelling: Investigating Audience Annotations in Data Visualizations
Venue: arXiv cs.HC 2025
Year: 2025

This work investigates personal perspectives in visualization annotations as devices for collective data-driven storytelling. Inspired by existing efforts in critical cartography, we show how people share personal memories in a visualization of COVID-19 data and how comments by other visualization readers influence the reading and understanding of visualizations. Analyzing interaction logs, reader surveys, visualization annotations, and interviews, we find that reader annotations help other viewers relate to other people's stories and reflect on their own experiences. Further, we found that annotations embedded directly into the visualization can serve as social traces guiding through a visualization and help readers contextualize their own stories. With that, they supersede the attention paid to data encodings and become the main focal point of the visualization.
Activation Functions Considered Harmful: Recovering Neural Network Weights through Controlled Channels
Venue: arXiv cs.CR 2025
Year: 2025

With high-stakes machine learning applications increasingly moving to untrusted end-user or cloud environments, safeguarding pre-trained model parameters becomes essential for protecting intellectual property and user privacy. Recent advancements in hardware-isolated enclaves, notably Intel SGX, hold the promise to secure the internal state of machine learning applications even against compromised operating systems. However, we show that privileged software adversaries can exploit input-dependent memory access patterns in common neural network activation functions to extract secret weights and biases from an SGX enclave. Our attack leverages the SGX-Step framework to obtain a noise-free, instruction-granular page-access trace. In a case study of an 11-input regression network using the Tensorflow Microlite library, we demonstrate complete recovery of all first-layer weights and biases, as well as partial recovery of parameters from deeper layers under specific conditions. Our novel attack technique requires only 20 queries per input per weight to obtain all first-layer weights and biases with an average absolute error of less than 1%, improving over prior model stealing attacks. Additionally, a broader ecosystem analysis reveals the widespread use of activation functions with input-dependent memory access patterns in popular machine learning frameworks (either directly or via underlying math libraries). Our findings highlight the limitations of deploying confidential models in SGX enclaves and emphasise the need for stricter side-channel validation of machine learning implementations, akin to the vetting efforts applied to secure cryptographic libraries.
Risk-Based Thresholding for Reliable Anomaly Detection in Concentrated Solar Power Plants
Venue: arXiv cs.LG 2025
Year: 2025

Efficient and reliable operation of Concentrated Solar Power (CSP) plants is essential for meeting the growing demand for sustainable energy. However, high-temperature solar receivers face severe operational risks, such as freezing, deformation, and corrosion, resulting in costly downtime and maintenance. To monitor CSP plants, cameras mounted on solar receivers record infrared images at irregular intervals ranging from one to five minutes throughout the day. Anomalous images can be detected by thresholding an anomaly score, where the threshold is chosen to optimize metrics such as the F1-score on a validation set. This work proposes a framework, using risk control, for generating more reliable decision thresholds with finite-sample coverage guarantees on any chosen risk function. Our framework also incorporates an abstention mechanism, allowing high-risk predictions to be deferred to domain experts. Second, we propose a density forecasting method to estimate the likelihood of an observed image given a sequence of previously observed images, using this likelihood as its anomaly score. Third, we analyze the deployment results of our framework across multiple training scenarios over several months for two CSP plants. This analysis provides valuable insights to our industry partner for optimizing maintenance operations. Finally, given the confidential nature of our dataset, we provide an extended simulated dataset, leveraging recent advancements in generative modeling to create diverse thermal images that simulate multiple CSP plants. Our code is publicly available.
Contact-based Grasp Control and Inverse Kinematics for a Five-fingered Robotic Hand
Venue: arXiv cs.RO 2025
Year: 2025

This paper presents an implementation and analysis of a five-fingered robotic grasping system that combines contact-based control with inverse kinematics solutions. Using the PyBullet simulation environment and the DexHand v2 model, we demonstrate a comprehensive approach to achieving stable grasps through contact point optimization with force closure validation. Our method achieves movement efficiency ratings between 0.966-0.996 for non-thumb fingers and 0.879 for the thumb, while maintaining positional accuracy within 0.0267-0.0283m for non-thumb digits and 0.0519m for the thumb. The system demonstrates rapid position stabilization at 240Hz simulation frequency and maintains stable contact configurations throughout the grasp execution. Experimental results validate the effectiveness of our approach, while also identifying areas for future enhancement in thumb opposition movements and horizontal plane control.